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T h e K a i m a n filter u s e s a d y n a m i c m o d e l of simplified e n g i n e a e r o t h e r m o d y n a m i c s and rotor dynamics. Actuator a n d sensor d y n a m i c models are also included. T h i s m o d e l a c c u r a t e l y d e s c r i b e s t h e e n g i n e o v e r t h e f u l l - p o w e r r a n g e a n d flight e n v e l o p e u s i n g simplified c o m p o n e n t m o d e l i n g . T h e K a i m a n g a i n m a t r i x is c o m p u t e d at a key operating point using a linearized engine model.

CORLEY "Failure Detection and Correction for Turbofan Engines," Rep. N o . , Schenectady, N e w York, 1977. 12. R. L. D E H O F F and W. E. , ONR-CR-215-245-1 (1978). (Avail. ) 13. R. K. S A H G A L and R. J. MILLER, in "Proceedings of Joint Automatic Control Conference," pp. 3 8 1 - 3 8 6 . IEEE, Piscataway, New Jersey, 1979. 14. G. G. L E I N I N G E R , and K. B E H B E H A N I , in "Proceedings of Joint Automatic Control Conference," Vol. 2, Paper TP4-B. IEEE, Piscataway, N e w Jersey, 1980.

W h e r e h a r d failures c a n b e d e t e c t e d a l m o s t i n s t a n t l y , soft failures a r e r e l i a b l y d e t e c t e d o n l y after s o m e finite a m o u n t of t i m e . T h i s t i m e t o d e t e c t is a f u n c t i o n of t h r e s h o l d level, w h i c h d e t e r m i n e s d e t e c t i o n reliability, r e q u i r e d m o d e l a c c u r a c y , a n d logic c o m p l e x i t y . U s u a l l y for soft failures, m o r e t i m e is a v a i l a b l e before a c c u m u l a t e d e r r o r is d a m a g i n g .

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